| <mujoco model="banana"> | |
| <asset> | |
| <material name="material_0" texture="texture_0_material_0" reflectance="0.2" /> | |
| <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" /> | |
| <mesh name="visual_mesh_0" file="mesh/banana.obj" scale="1.0 1.0 1.0" /> | |
| <mesh name="collision_mesh_0_0" file="mesh/banana_collision_0.obj" scale="1.0 1.0 1.0" /> | |
| <mesh name="collision_mesh_0_1" file="mesh/banana_collision_1.obj" scale="1.0 1.0 1.0" /> | |
| <mesh name="collision_mesh_0_2" file="mesh/banana_collision_2.obj" scale="1.0 1.0 1.0" /> | |
| <mesh name="collision_mesh_0_3" file="mesh/banana_collision_3.obj" scale="1.0 1.0 1.0" /> | |
| <mesh name="collision_mesh_0_4" file="mesh/banana_collision_4.obj" scale="1.0 1.0 1.0" /> | |
| </asset> | |
| <worldbody> | |
| <body name="banana"> | |
| <joint type="free" /> | |
| <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" material="material_0" /> | |
| <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" /> | |
| <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" /> | |
| <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" /> | |
| <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" /> | |
| <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" /> | |
| </body> | |
| </worldbody> | |
| </mujoco> |